Abstract
This paper deals with the dynamic control of humanoid robots interacting with their environment, and more specifically the behavioral synthesis for dynamic tasks. The particular problem that is considered here is the sequencing of elementary activities subjected to physical constraints, both internal as torque limits and external as contacts, within the framework of posture/tasks coordination. For that we propose to convert the set of tasks into weighted quadratic functions and to minimize their cost with a Linear Quadratic Program. The combination of elementary tasks leads to complex actions, and the continuous evolution of the weights ensures smooth transitions over time, as it is shown in the results.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Abe, Y., da Silva, M., Popovic, J.: Multiobjective Control with Frictional Contacts. In: Symposium on Computer Animation (SCA) (2007)
Baerlocher, P., Boulic, R.: An inverse kinematics architecture enforcing an arbitrary number of strict priority levels. Visual Computer 20(6), 402–417 (2004)
Barthélemy, S., Salini, J., Micaelli, A.: Arboris-python, https://github.com/salini/arboris-pyhton
Collette, C., Micaelli, A., Andriot, C., Lemerle, P.: Dynamic Balance Control of Humanoids for Multiple Grasps and non Coplanar Frictional Contacts. In: Humanoids 2007 (2007)
Dahl, J., Vandenberghe, L.: Cvxopt - python software for convex optimization, http://abel.ee.ucla.edu/cvxopt/
Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K., Hirukawa, H.: Biped walking pattern generation by using preview control of zero-moment point. In: Proceedings of the 2003 IEEE International Conference on Robotics and Automation Taipei, Taiwan (2003)
Kanoun, O.: Contribution à la planification de mouvement pour robots humanoïdes. Ph.D. thesis, Université Toulouse III (2009)
Metta, G., Sandini, G., Vernon, D., Natale, L., Nori, F.: The iCub humanoid robot: an open platform for research in embodied cognition. In: Permis: Performance Metrics for Intelligent Systems Workshop, Washington DC, USA (2008)
Padois, V.: Enchaînements dynamiques de tâches pour des manipulateurs mobiles à roues. Ph.D. thesis, Institut National Polytechnique, Toulouse, France (2005)
Park, J.: Control strategies for robots in contact. Ph.D. thesis, Stanford University (2006)
Sentis, L.: Synthesis and control of whole-body behaviors in humanoid systems. Ph.D. thesis, Stanford University (2007)
Siciliano, B., Slotine, J.-J.: A general framework for managing multiple tasks in highly redundant robotic systems. In: ICAR 1991, vol. 2, pp. 1211–1215 (1991)
da Silva, M., Abe, Y., Popovic, J.: Simulation of human motion data using short-horizon model-predictive control. In: Eurographics (2008)
Wieber, P.B.: Trajectory free linear model predictive control for stable walking in the presence of strong perturbations. In: IEEE-RAS International Conference on Humanoid Robots, Genova, Italy (2006)
Sardain, P., Bessonnet, G.: Forces Acting on a Biped Robot. Center of Pressure - Zero Moment Point. IEEE Transactions on Systems, Man, and Cybernetics, Part A 34(5), 630–637 (2004)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Salini, J., Barthélemy, S., Bidaud, P., Padois, V. (2013). Whole-Body Motion Synthesis with LQP-Based Controller – Application to iCub. In: Mombaur, K., Berns, K. (eds) Modeling, Simulation and Optimization of Bipedal Walking. Cognitive Systems Monographs, vol 18. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-36368-9_16
Download citation
DOI: https://doi.org/10.1007/978-3-642-36368-9_16
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-36367-2
Online ISBN: 978-3-642-36368-9
eBook Packages: EngineeringEngineering (R0)